Abstract

Behavioral and theoretical studies have shown that during joint action in an interpersonal skilled activity, like carrying an object collaboratively, anticipation is required to further improve the precision in the realization of the task. We model this task as a dual cart pole setup, and we provide a computational basis of how this anticipation can be realized at different levels: anticipating errors originating from the agent’s body control, errors related to the global task and errors derived from the anticipation of the other’s actions. We model computationally the control loops of the agents as an interplay of feedback and feedforward components and we base the latter on previous research on the cerebellar circuit network. Our results confirm experimentally that anticipating the error in the task including inputs extracted from the behavior of the other, further improves precision in the realization.